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make default apps compatible with autogenerated attitude and rc_channels message

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Thomas Gubler
2014-12-02 12:19:24 +01:00
parent 141dda2092
commit e28e8c11bb
7 changed files with 66 additions and 61 deletions
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src/modules/sensors/sensors.cpp
+38 -38
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@@ -182,13 +182,13 @@ private:
/**
* Get and limit value for specified RC function. Returns NAN if not mapped.
*/
float get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value);
float get_rc_value(uint8_t func, float min_value, float max_value);
/**
* Get switch position for specified function.
*/
switch_pos_t get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv);
switch_pos_t get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv);
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
/**
* Gather and publish RC input data.
@@ -771,25 +771,25 @@ Sensors::parameters_update()
_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
/* update RC function mappings */
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[ROLL] = _parameters.rc_map_roll - 1;
_rc.function[PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[YAW] = _parameters.rc_map_yaw - 1;
_rc.function[RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
_rc.function[RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
_rc.function[RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
_rc.function[AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[AUX_5] = _parameters.rc_map_aux5 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
/* gyro offsets */
param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
@@ -1492,7 +1492,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
float
Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
Sensors::get_rc_value(uint8_t func, float min_value, float max_value)
{
if (_rc.function[func] >= 0) {
float value = _rc.channels[_rc.function[func]];
@@ -1513,7 +1513,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max
}
switch_pos_t
Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
@@ -1534,7 +1534,7 @@ Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, boo
}
switch_pos_t
Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
@@ -1668,24 +1668,24 @@ Sensors::rc_poll()
manual.timestamp = rc_input.timestamp_last_signal;
/* limit controls */
manual.y = get_rc_value(ROLL, -1.0, 1.0);
manual.x = get_rc_value(PITCH, -1.0, 1.0);
manual.r = get_rc_value(YAW, -1.0, 1.0);
manual.z = get_rc_value(THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
manual.y = get_rc_value(RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
manual.x = get_rc_value(RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
manual.r = get_rc_value(RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
manual.z = get_rc_value(RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value(RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
manual.aux3 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
manual.aux4 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
manual.aux5 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
/* mode switches */
manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
manual.offboard_switch = get_rc_sw2pos_position(OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
manual.mode_switch = get_rc_sw3pos_position(RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
manual.posctl_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
manual.offboard_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {